面向巷道环境的稀疏锚节点UWB定位方法

井下巷道人员及设备定位是智慧矿山的重要功能，UWB定位系统依赖定位区域提前部署的大量锚节点，存在部署成本高的问题。本文提出巷道环境稀疏锚节点定位方法，以降低定位系统的部署成本。结合巷道特殊环境，设计了两点定位法获得标签节点的位置信息；设计了锚节点上安装多测距模块的锚节点，获得多条不同的测距信息以提高节点定位率；提出了设置虚拟锚节点方法，将已定位的标签节点升级为虚拟锚节点，增加锚节点的密度，提高定位精度。最后的结果表明：该方法能够有效地降低锚节点数量，提高定位精度。

Localization with sparse anchor nodes for roadway environment

Personnel and equipment positioning in underground roadway is an important function of smart mines. UWB positioning system relies on a large number of anchor nodes deployed in advance in the positioning area, which has the problem of high deployment cost. In this paper, a method of Localization with sparse anchor nodes for roadway environment is proposed to reduce the deployment cost of positioning system. Combined with the special environment of roadway, a two-point positioning method is designed to obtain the location information of label nodes. An anchor node with multiple ranging modules is designed to obtain multiple different ranging information to improve node localization rate. A method of setting virtual anchor nodes is proposed. It is to upgrade a located label node to a virtual anchor node which increase the density of anchor nodes and improve the positioning accuracy. The final results show that the method can effectively reduce the number of anchor nodes and improve the positioning accuracy.